/*
 * Copyright (c) 2021, Texas Instruments Incorporated
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * *  Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * *  Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *
 * *  Neither the name of Texas Instruments Incorporated nor the names of
 *    its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

#include "ti_msp_dl_config.h"
#include <stdarg.h>
#include <stdio.h>
#include <string.h>
void UART_printf(const char *format, ...) {
  uint32_t length;
  va_list args;
  uint32_t i;
  char TxBuffer[128] = {0};

  va_start(args, format);
  length = vsnprintf((char *)TxBuffer, sizeof(TxBuffer), (char *)format, args);
  va_end(args);

  for (i = 0; i < length; i++) {
    DL_UART_Main_transmitDataBlocking(UART_0_INST, TxBuffer[i]);
  }
}

int main(void) {
  SYSCFG_DL_init();

  NVIC_EnableIRQ(QEI_0_INST_INT_IRQN);

  DL_TimerG_startCounter(QEI_0_INST);
  UART_printf("helloWorld\r\n");

  while (1) {
    delay_cycles(3200000);
    UART_printf("CTR=%d\r\n", DL_Timer_getTimerCount(QEI_0_INST));
  }
}

/**
 * @brief QEI_0_INST中断服务函数
 *
 * 本函数用于处理QEI（正交编码器接口）的中断请求。它通过检查挂起的中断类型来决定如何处理中断。
 * 特别地，本函数关注于方向变化中断，当检测到方向变化时，会根据新的方向控制LED的亮灭。
 */
void QEI_0_INST_IRQHandler(void) {
  // 根据挂起的中断类型执行相应的操作
  switch (DL_TimerG_getPendingInterrupt(QEI_0_INST)) {
  case DL_TIMER_IIDX_DIR_CHANGE:
    // 当发生方向变化中断时，检查QEI的方向
    if (DL_TimerG_getQEIDirection(QEI_0_INST) == DL_TIMER_QEI_DIR_DOWN)
      // 如果方向为逆时针，熄灭用户LED1
      DL_GPIO_clearPins(GPIO_LEDS_PORT, GPIO_LEDS_USER_LED_1_PIN);
    else
      // 如果方向为顺时针，点亮用户LED1
      DL_GPIO_setPins(GPIO_LEDS_PORT, GPIO_LEDS_USER_LED_1_PIN);
  default:
    // 默认情况下，不执行任何操作
    break;
  }
}
